Quick change tool head for a collaborative robot

Abstract

This utility model discloses a quick-change tool head for collaborative robots, relating to the field of collaborative robot technology. It includes a quick-change platen and a quick-clamping mechanism. The quick-change platen has a quick-clamping mechanism fixedly connected internally, and the quick-clamping mechanism includes a series wire fixedly connected to the inside of the platen. One end of the series wire is fixedly connected to a drive cylinder, and the outer surface of the drive cylinder has a fixing post. The inner surface of the fixing post has a positioning groove, and the inner wall of the positioning groove is fixedly connected to a protective ring. The series wire is a silver-plated copper core wire, and its low resistance ensures efficient power supply to the drive cylinder. Multiple drive cylinders are evenly distributed along the circumference of the quick-change platen. Compared with existing ordinary quick-change tool heads, this quick-change tool head for collaborative robots features multi-dimensional mechanical positioning, achieving high-precision fixing, ensuring connection stability, and can operate stably in dusty and short-term water immersion environments, extending the tool head's service life in harsh environments.

Description

Technical Field

[0001] This utility model relates to the field of collaborative robot technology, specifically a quick-change tool head for collaborative robots. Background Technology

[0002] Collaborative robots are robots that can safely collaborate with humans in shared workspaces. They possess functions such as force control and collision detection, and can be quickly adapted to various tasks such as assembly, handling, and quality inspection through programming. They are widely used in industries such as electronics, automotive, and food. Their small size and flexible deployment can reduce the safety risks of human-robot collaboration. The quick-change tool head for collaborative robots is a core component connecting the robot's end effector to the working tool. Through the precise docking of the quick-change fixed plate and the quick-change slave plate, existing quick-change tool heads for collaborative robots have certain shortcomings.

[0003] For example, a quick-change device for end-effector tools of an industrial robot, as described in application number CN201922010015.7, includes a robot side for connecting to an industrial robot arm, several quick-change tool holders for mounting end-effector tools, and a control device for controlling the movement of the robot side. The quick-change tool holders are detachably mounted on the quick-change tool holders. The robot side includes a first quick-change gripper and a second quick-change gripper that engage with the quick-change tool holders. The first quick-change gripper has a multi-core spring pin male for connecting to a circuit control system, and the second quick-change gripper has a first air nozzle for connecting to a pneumatic control system. The quick-change tool holder has a multi-core spring pin female for engaging with the multi-core spring pin male and an air port for engaging with the first air nozzle. Therefore, the changing of the end-effector tools of the industrial robot is entirely controlled by the control device, eliminating the need for manual operation, saving time on tool changes, and improving work efficiency and accuracy. However, this quick-change tool head has problems such as poor sealing performance, easy intrusion of impurities, decreased positioning accuracy with use affecting work quality, complex maintenance procedures, and high costs.

[0004] Therefore, in view of this, we have studied and improved the existing structure to address its shortcomings, and proposed a quick-change tool head for collaborative robots. Utility Model Content

[0005] The purpose of this invention is to provide a quick-change tool head for collaborative robots to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a quick-change tool head for collaborative robots, comprising a quick-change plate and a quick-clamping mechanism. The quick-change plate is internally fixedly connected to the quick-clamping mechanism, which includes a series wire fixedly connected to the internal position of the quick-change plate. One end of the series wire is fixedly connected to a drive cylinder, and a fixing post is provided on the outer surface of the drive cylinder. A positioning groove is formed on the inner surface of the fixing post, and a protective ring is fixedly connected to the inner wall of the positioning groove.

[0007] Preferably, the bottom of the quick-change plate is provided with a quick-change slave plate, and the top of the quick-change slave plate is fixedly connected with a sealing and reinforcing protection mechanism.

[0008] Preferably, the sealing and protection mechanism includes a trapezoidal sealing ring fixedly connected to the top of the quick-change disc, and an annular air chamber fixedly connected to one side of the trapezoidal sealing ring. An air inlet pipe is fixedly connected to the outer surface of the annular air chamber, and an air pressure regulating valve is fixedly connected to the outer surface of the air inlet pipe.

[0009] Preferably, a first guide block is fixedly connected to the outer surface of the quick-change plate, and a second guide block is fixedly connected to one side of the first guide block.

[0010] Preferably, the outer surface of the quick-change slave plate is fixedly connected to a first guide group, and the outer surface of the quick-change stationary plate is fixedly connected to an upper interface.

[0011] Preferably, the inner surface of the first guide group is rolled with positioning balls, and the inner surface of the quick-change plate is provided with a positioning groove.

[0012] Preferably, a second guide group is fixedly connected to the outer surface of the quick-change plate, and a lower interface is provided on one side of the second guide group.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model, through the setting of a quick-clamping mechanism, forms a symmetrical clamping force with multiple sets of drive cylinders evenly distributed around the circumference, controlling the force deviation of the connection surface to a minimum range, improving the accuracy of tool head repeat positioning, meeting the requirements of precision assembly, avoiding the risk of falling off, shortening the tool head replacement time due to the fast-response drive cylinder, improving equipment uptime, and at the same time, the cylinder surface is treated with hard anodizing, which improves corrosion resistance, and the wear-resistant and corrosion-resistant design extends the service life of the mechanism and significantly reduces maintenance costs;

[0015] 2. This utility model, through its enhanced sealing and protection, not only fills gaps but also forms a uniform pre-tightening force on the quick-change fixed plate and quick-change slave plate, offsetting minor misalignments during docking. The silicone rubber material of the trapezoidal sealing ring is reinforced with carbon fiber particles, which, in addition to elasticity and wear resistance, can withstand extreme temperatures. Furthermore, the trapezoidal bevel design prevents water from entering the air passage, maintains stable operation, avoids short circuits, and reduces maintenance frequency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram showing the disassembled structure of the quick-change fixed plate 1 and quick-change slave plate 3 of this utility model;

[0017] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the present invention;

[0018] Figure 3 This is a schematic diagram of the structure of the quick-connect mechanism 2 of this utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the sealing and reinforcement protection 4 of this utility model.

[0020] In the diagram: 1. Quick-change plate; 2. Quick-connect mechanism; 201. Series wire; 202. Drive cylinder; 203. Fixed column; 204. Positioning groove; 205. Protective ring; 3. Quick-change slave plate; 4. Sealing enhancement and protection mechanism; 401. Trapezoidal sealing ring; 402. Annular air chamber; 403. Air inlet pipe; 404. Air pressure regulating valve; 5. First guide block; 6. Second guide block; 7. First guide group; 8. Upper interface; 9. Positioning ball; 10. Positioning slot; 11. Second guide group; 12. Lower interface. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] like Figures 1-3As shown, a quick-change tool head for a collaborative robot includes a quick-change platen 1 and a quick-clamping mechanism 2. The quick-change platen 1 is internally connected to the quick-clamping mechanism 2, which includes a series wire 201 fixedly connected to the interior of the platen 1. One end of the series wire 201 is fixedly connected to a drive cylinder 202, and the outer surface of the drive cylinder 202 is provided with a fixing post 203. The inner surface of the fixing post 203 is provided with a positioning groove 204. The inner wall of the slot 204 is fixedly connected with a protective ring 205. The series wire 201 is a silver-plated copper core wire, and the low resistance ensures efficient power supply to the drive cylinder 202. Multiple sets of drive cylinders 202 are evenly distributed along the circumference of the quick-change plate 1. The positioning slot 204 of the fixed column 203 is dovetail-shaped and is adapted to the piston of the drive cylinder 202. The protective ring 205 is made of fluororubber, which is sealed and dustproof. After power is applied, the piston of the drive cylinder 202 is precisely inserted into the positioning slot 204 to achieve a rigid connection between the quick-change plate 1 and the quick-change slave plate 3.

[0023] like Figure 4 As shown, a quick-change plate 3 is provided at the bottom of the quick-change plate 1, and a sealing enhancement and protection mechanism 4 is fixedly connected to the top of the quick-change plate 3. The sealing enhancement and protection mechanism 4 includes a trapezoidal sealing ring 401 fixedly connected to the top of the quick-change plate 3, and an annular air chamber 402 is fixedly connected to one side of the trapezoidal sealing ring 401. An air inlet pipe 403 is fixedly connected to the outer surface of the annular air chamber 402, and an air pressure regulating valve 404 is fixedly connected to the outer surface of the air inlet pipe 403. In the sealing enhancement and protection mechanism 4, the trapezoidal sealing ring 401 is made of silicone rubber, which has good elasticity and wear resistance. When its trapezoidal structure contacts the bottom of the quick-change plate 1, it can increase the contact area and improve the initial sealing effect. The annular air chamber 402 can be inflated. After the annular air chamber 402 is inflated under pressure, it can further fill the tiny gaps. The air pressure regulating valve 404 can accurately control the air pressure to achieve the best sealing effect.

[0024] Furthermore, a first guide block 5 is fixedly connected to the outer surface of the quick-change plate 1, and a second guide block 6 is fixedly connected to one side of the first guide block 5. A first guide group 7 is fixedly connected to the outer surface of the quick-change plate 3, and an upper interface 8 is fixedly connected to the outer surface of the quick-change plate 1. The first guide block 5 corresponds to the first guide group 7, and the second guide block 6 corresponds to the second guide group 11, completing the initial quick positioning. The upper interface 8 and the lower interface 12 are aviation-grade waterproof interfaces, integrating air and circuit channels to ensure stable signal and power transmission after connection, improving the quick-change docking accuracy and reliability.

[0025] Furthermore, the inner surface of the first guide group 7 is rolled with positioning balls 9, and the inner surface of the quick-change plate 1 is provided with positioning grooves 10. The outer surface of the quick-change plate 1 is fixedly connected with the second guide group 11, and a lower interface 12 is provided on one side of the second guide group 11. The positioning balls 9 on the inner surface of the quick-change plate 1 are made of bearing steel and are distributed equidistantly along the circumference. They can be flexibly rolled when embedded in the groove of the quick-change plate 1. The positioning grooves 10 of the quick-change plate 1 are arc-shaped structures and are precisely fitted with the positioning balls 9 to achieve radial positioning.

[0026] Working principle: When using this collaborative robot with a quick tool head change function, firstly, the quick-change fixed platen 1 is fixed to the robot end effector, and the quick-change slave platen 3 is connected to the tool head. The first guide block 5 and the second guide block 6 are aligned with the first guide group 7 and the second guide group 11 of the quick-change slave platen 3 for further calibration. The positioning ball 9 rolls along the guide blocks to assist in the initial alignment, bringing the upper interface 8 and the lower interface 12 closer together. Then, the series wire 201 of the quick-clamping mechanism 2 is energized, the drive cylinder 202 is activated, and its piston rod is inserted into the positioning groove 204 of the fixed column 203. The protective ring 205 seals the gap, the air inlet pipe 403 of the sealing and reinforcing protective mechanism 4 is ventilated, the annular air chamber 402 bulges, the trapezoidal sealing ring 401 is compressed, the air pressure regulating valve 404 controls the pressure, the positioning ball 9 is inserted into the positioning slot 10 to complete the fixation, and finally, the upper interface 8 and the lower interface 12 are precisely connected to conduct the air circuit to complete the tool head replacement. During disassembly, the reverse operation releases the drive cylinder 202 and air pressure, the guide component assists in separation, and each component is reset to wait for the next replacement. This is the working principle of the collaborative robot using quick tool head replacement.

Claims

1. A quick-change tool head for collaborative robots, comprising a quick-change base plate (1) and a quick-connection mechanism (2), characterized in that, The quick-change plate (1) is internally fixedly connected to a quick-clamping mechanism (2), and the quick-clamping mechanism (2) includes a series wire (201) fixedly connected to the internal position of the quick-change plate (1). One end of the series wire (201) is fixedly connected to a drive cylinder (202), and a fixing post (203) is provided on the outer surface of the drive cylinder (202). A positioning groove (204) is opened on the inner surface of the fixing post (203), and a protective ring (205) is fixedly connected to the inner wall of the positioning groove (204).

2. The quick change tool head for a collaborative robot of claim 1, wherein, The bottom of the quick-change plate (1) is provided with a quick-change slave plate (3), and the top of the quick-change slave plate (3) is fixedly connected with a sealing and reinforcing protection mechanism (4).

3. A quick change tool head for a collaborative robot according to claim 2, wherein, The sealing and protection mechanism (4) includes a trapezoidal sealing ring (401) fixedly connected to the top of the quick-change plate (3), and an annular air chamber (402) is fixedly connected to one side of the trapezoidal sealing ring (401). An air inlet pipe (403) is fixedly connected to the outer surface of the annular air chamber (402), and an air pressure regulating valve (404) is fixedly connected to the outer surface of the air inlet pipe (403).

4. The quick change tool head for a collaborative robot of claim 1, wherein, The outer surface of the quick-change plate (1) is fixedly connected to a first guide block (5), and a second guide block (6) is fixedly connected to one side of the first guide block (5).

5. The quick change tool head for a collaborative robot of claim 2, wherein, The outer surface of the quick-change slave plate (3) is fixedly connected to the first guide group (7), and the outer surface of the quick-change fixed plate (1) is fixedly connected to the upper interface (8).

6. A quick change tool head for a collaborative robot according to claim 5, wherein, The inner surface of the first guide group (7) is connected with a positioning ball (9), and the inner surface of the quick-change plate (1) is provided with a positioning slot (10).

7. The quick change tool head for a collaborative robot of claim 1, wherein, The outer surface of the quick-change plate (1) is fixedly connected to a second guide group (11), and a lower interface (12) is provided on one side of the second guide group (11).

Images